475 lines
19 KiB
C
475 lines
19 KiB
C
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// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "freertos/xtensa_api.h"
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#include "freertos/ringbuf.h"
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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typedef enum {
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flag_allowsplit = 1,
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} rbflag_t;
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typedef enum {
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iflag_free = 1, //Buffer is not read and given back by application, free to overwrite
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iflag_dummydata = 2, //Data from here to end of ringbuffer is dummy. Restart reading at start of ringbuffer.
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} itemflag_t;
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//The ringbuffer structure
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typedef struct {
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SemaphoreHandle_t free_space_sem; //Binary semaphore, wakes up writing threads when there's more free space
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SemaphoreHandle_t items_buffered_sem; //Binary semaphore, indicates there are new packets in the circular buffer. See remark.
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size_t size; //Size of the data storage
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uint8_t *write_ptr; //Pointer where the next item is written
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uint8_t *read_ptr; //Pointer from where the next item is read
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uint8_t *free_ptr; //Pointer to the last block that hasn't been given back to the ringbuffer yet
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uint8_t *data; //Data storage
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portMUX_TYPE mux; //Spinlock for actual data/ptr/struct modification
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rbflag_t flags;
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} ringbuf_t;
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/*
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Remark: A counting semaphore for items_buffered_sem would be more logical, but counting semaphores in
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FreeRTOS need a maximum count, and allocate more memory the larger the maximum count is. Here, we
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would need to set the maximum to the maximum amount of times a null-byte unit firs in the buffer,
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which is quite high and so would waste a fair amount of memory.
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*/
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//The header prepended to each ringbuffer entry. Size is assumed to be a multiple of 32bits.
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typedef struct {
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size_t len;
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itemflag_t flags;
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} buf_entry_hdr_t;
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//Calculate space free in the buffer
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static int ringbufferFreeMem(ringbuf_t *rb)
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{
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int free_size = rb->free_ptr-rb->write_ptr;
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if (free_size <= 0) free_size += rb->size;
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//Reserve one byte. If we do not do this and the entire buffer is filled, we get a situation
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//where read_ptr == free_ptr, messing up the next calculation.
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return free_size-1;
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}
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//Copies a single item to the ring buffer. Assumes there is space in the ringbuffer and
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//the ringbuffer is locked. Increases write_ptr to the next item. Returns pdTRUE on
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//success, pdFALSE if it can't make the item fit and the calling routine needs to retry
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//later or fail.
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//This function by itself is not threadsafe, always call from within a muxed section.
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static BaseType_t copyItemToRingbuf(ringbuf_t *rb, uint8_t *buffer, size_t buffer_size)
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{
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size_t rbuffer_size=(buffer_size+3)&~3; //Payload length, rounded to next 32-bit value
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configASSERT(((int)rb->write_ptr&3)==0); //write_ptr needs to be 32-bit aligned
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configASSERT(rb->write_ptr-(rb->data+rb->size) >= sizeof(buf_entry_hdr_t)); //need to have at least the size
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//of a header to the end of the ringbuff
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size_t rem_len=(rb->data + rb->size) - rb->write_ptr; //length remaining until end of ringbuffer
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//See if we have enough contiguous space to write the buffer.
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if (rem_len < rbuffer_size + sizeof(buf_entry_hdr_t)) {
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//The buffer can't be contiguously written to the ringbuffer, but needs special handling. Do
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//that depending on how the ringbuffer is configured.
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//The code here is also expected to check if the buffer, mangled in whatever way is implemented,
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//will still fit, and return pdFALSE if that is not the case.
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if (rb->flags & flag_allowsplit) {
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//Buffer plus header is not going to fit in the room from wr_pos to the end of the
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//ringbuffer... we need to split the write in two.
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//First, see if this will fit at all.
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if (ringbufferFreeMem(rb) < (sizeof(buf_entry_hdr_t)*2)+rbuffer_size) {
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//Will not fit.
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return pdFALSE;
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}
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//Because the code at the end of the function makes sure we always have
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//room for a header, this should never assert.
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configASSERT(rem_len>=sizeof(buf_entry_hdr_t));
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//Okay, it should fit. Write everything.
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//First, place bit of buffer that does fit. Write header first...
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buf_entry_hdr_t *hdr=(buf_entry_hdr_t *)rb->write_ptr;
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hdr->flags=0;
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hdr->len=rem_len-sizeof(buf_entry_hdr_t);
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rb->write_ptr+=sizeof(buf_entry_hdr_t);
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rem_len-=sizeof(buf_entry_hdr_t);
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if (rem_len!=0) {
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//..then write the data bit that fits.
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memcpy(rb->write_ptr, buffer, rem_len);
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//Update vars so the code later on will write the rest of the data.
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buffer+=rem_len;
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rbuffer_size-=rem_len;
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buffer_size-=rem_len;
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} else {
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//Huh, only the header fit. Mark as dummy so the receive function doesn't receive
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//an useless zero-byte packet.
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hdr->flags|=iflag_dummydata;
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}
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rb->write_ptr=rb->data;
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} else {
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//Buffer plus header is not going to fit in the room from wr_pos to the end of the
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//ringbuffer... but we're not allowed to split the buffer. We need to fill the
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//rest of the ringbuffer with a dummy item so we can place the data at the _start_ of
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//the ringbuffer..
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//First, find out if we actually have enough space at the start of the ringbuffer to
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//make this work (Again, we need 4 bytes extra because otherwise read_ptr==free_ptr)
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if (rb->free_ptr-rb->data < rbuffer_size+sizeof(buf_entry_hdr_t)+4) {
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//Will not fit.
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return pdFALSE;
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}
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//If the read buffer hasn't wrapped around yet, there's no way this will work either.
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if (rb->free_ptr > rb->write_ptr) {
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//No luck.
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return pdFALSE;
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}
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//Okay, it will fit. Mark the rest of the ringbuffer space with a dummy packet.
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buf_entry_hdr_t *hdr=(buf_entry_hdr_t *)rb->write_ptr;
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hdr->flags=iflag_dummydata;
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//Reset the write pointer to the start of the ringbuffer so the code later on can
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//happily write the data.
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rb->write_ptr=rb->data;
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}
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} else {
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//No special handling needed. Checking if it's gonna fit probably still is a good idea.
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if (ringbufferFreeMem(rb) < sizeof(buf_entry_hdr_t)+rbuffer_size) {
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//Buffer is not going to fit, period.
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return pdFALSE;
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}
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}
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//If we are here, the buffer is guaranteed to fit in the space starting at the write pointer.
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buf_entry_hdr_t *hdr=(buf_entry_hdr_t *)rb->write_ptr;
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hdr->len=buffer_size;
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hdr->flags=0;
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rb->write_ptr+=sizeof(buf_entry_hdr_t);
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memcpy(rb->write_ptr, buffer, buffer_size);
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rb->write_ptr+=rbuffer_size;
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//The buffer will wrap around if we don't have room for a header anymore.
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if ((rb->data+rb->size)-rb->write_ptr < sizeof(buf_entry_hdr_t)) {
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//'Forward' the write buffer until we are at the start of the ringbuffer.
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//The read pointer will always be at the start of a full header, which cannot
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//exist at the point of the current write pointer, so there's no chance of overtaking
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//that.
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rb->write_ptr=rb->data;
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}
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return pdTRUE;
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}
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//Retrieves a pointer to the data of the next item, or NULL if this is not possible.
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//This function by itself is not threadsafe, always call from within a muxed section.
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static uint8_t *getItemFromRingbuf(ringbuf_t *rb, size_t *length)
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{
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uint8_t *ret;
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configASSERT(((int)rb->read_ptr&3)==0);
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if (rb->read_ptr == rb->write_ptr) {
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//No data available.
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return NULL;
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}
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//The item written at the point of the read pointer may be a dummy item.
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//We need to skip past it first, if that's the case.
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buf_entry_hdr_t *hdr=(buf_entry_hdr_t *)rb->read_ptr;
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configASSERT((hdr->len < rb->size) || (hdr->flags & iflag_dummydata));
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if (hdr->flags & iflag_dummydata) {
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//Hdr is dummy data. Reset to start of ringbuffer.
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rb->read_ptr=rb->data;
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//Get real header
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hdr=(buf_entry_hdr_t *)rb->read_ptr;
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configASSERT(hdr->len < rb->size);
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//No need to re-check if the ringbuffer is empty: the write routine will
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//always write a dummy item plus the real data item in one go, so now we must
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//be at the real data item by definition.
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}
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//Okay, pass the data back.
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ret=rb->read_ptr+sizeof(buf_entry_hdr_t);
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*length=hdr->len;
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//...and move the read pointer past the data.
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rb->read_ptr+=sizeof(buf_entry_hdr_t)+((hdr->len+3)&~3);
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//The buffer will wrap around if we don't have room for a header anymore.
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if ((rb->data + rb->size) - rb->read_ptr < sizeof(buf_entry_hdr_t)) {
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rb->read_ptr=rb->data;
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}
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return ret;
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}
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//Returns an item to the ringbuffer. Will mark the item as free, and will see if the free pointer
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//can be increase.
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//This function by itself is not threadsafe, always call from within a muxed section.
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static void returnItemToRingbuf(ringbuf_t *rb, void *item) {
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uint8_t *data=(uint8_t*)item;
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configASSERT(((int)rb->free_ptr&3)==0);
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configASSERT(data >= rb->data);
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configASSERT(data < rb->data+rb->size);
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//Grab the buffer entry that preceeds the buffer
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buf_entry_hdr_t *hdr=(buf_entry_hdr_t*)(data-sizeof(buf_entry_hdr_t));
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configASSERT(hdr->len < rb->size);
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configASSERT((hdr->flags & iflag_dummydata)==0);
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configASSERT((hdr->flags & iflag_free)==0);
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//Mark the buffer as free.
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hdr->flags|=iflag_free;
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//Do a cleanup pass.
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hdr=(buf_entry_hdr_t *)rb->free_ptr;
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//basically forward free_ptr until we run into either a block that is still in use or the write pointer.
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while (((hdr->flags & iflag_free) || (hdr->flags & iflag_dummydata)) && rb->free_ptr != rb->write_ptr) {
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if (hdr->flags & iflag_dummydata) {
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//Rest is dummy data. Reset to start of ringbuffer.
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rb->free_ptr=rb->data;
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} else {
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//Skip past item
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size_t len=(hdr->len+3)&~3;
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rb->free_ptr+=len+sizeof(buf_entry_hdr_t);
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configASSERT(rb->free_ptr<=rb->data+rb->size);
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}
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//The buffer will wrap around if we don't have room for a header anymore.
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if ((rb->data+rb->size)-rb->free_ptr < sizeof(buf_entry_hdr_t)) {
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rb->free_ptr=rb->data;
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}
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//Next header
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hdr=(buf_entry_hdr_t *)rb->free_ptr;
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}
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}
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void xRingbufferPrintInfo(RingbufHandle_t ringbuf)
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{
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ringbuf_t *rb=(ringbuf_t *)ringbuf;
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configASSERT(rb);
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ets_printf("Rb size %d free %d rptr %d freeptr %d wptr %d\n",
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rb->size, ringbufferFreeMem(rb), rb->read_ptr-rb->data, rb->free_ptr-rb->data, rb->write_ptr-rb->data);
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}
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RingbufHandle_t xRingbufferCreate(size_t buf_length, BaseType_t allow_split_items)
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{
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ringbuf_t *rb = malloc(sizeof(ringbuf_t));
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if (rb==NULL) goto err;
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memset(rb, 0, sizeof(ringbuf_t));
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rb->data = malloc(buf_length);
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if (rb->data == NULL) goto err;
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rb->size = buf_length;
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rb->free_ptr = rb->data;
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rb->read_ptr = rb->data;
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rb->write_ptr = rb->data;
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rb->free_space_sem = xSemaphoreCreateBinary();
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rb->items_buffered_sem = xSemaphoreCreateBinary();
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rb->flags=0;
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if (allow_split_items) rb->flags|=flag_allowsplit;
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if (rb->free_space_sem == NULL || rb->items_buffered_sem == NULL) goto err;
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vPortCPUInitializeMutex(&rb->mux);
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return (RingbufHandle_t)rb;
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err:
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//Some error has happened. Free/destroy all allocated things and return NULL.
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if (rb) {
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free(rb->data);
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if (rb->free_space_sem) vSemaphoreDelete(rb->free_space_sem);
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if (rb->items_buffered_sem) vSemaphoreDelete(rb->items_buffered_sem);
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}
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free(rb);
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return NULL;
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}
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void vRingbufferDelete(RingbufHandle_t ringbuf) {
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ringbuf_t *rb=(ringbuf_t *)ringbuf;
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if (rb) {
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free(rb->data);
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if (rb->free_space_sem) vSemaphoreDelete(rb->free_space_sem);
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if (rb->items_buffered_sem) vSemaphoreDelete(rb->items_buffered_sem);
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}
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free(rb);
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}
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size_t xRingbufferGetMaxItemSize(RingbufHandle_t ringbuf)
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{
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ringbuf_t *rb=(ringbuf_t *)ringbuf;
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configASSERT(rb);
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//In both cases, we return 4 bytes less than what we actually can have. If the ringbuffer is
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//indeed entirely filled, read_ptr==free_ptr, which throws off the free space calculation.
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if (rb->flags & flag_allowsplit) {
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//Worst case, we need to split an item into two, which means two headers of overhead.
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return rb->size-(sizeof(buf_entry_hdr_t)*2)-4;
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} else {
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//Worst case, we have the write ptr in such a position that we are lacking four bytes of free
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//memory to put an item into the rest of the memory. If this happens, we have to dummy-fill
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//(item_data-4) bytes of buffer, then we only have (size-(item_data-4) bytes left to fill
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//with the real item. (item size being header+data)
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return (rb->size/2)-sizeof(buf_entry_hdr_t)-4;
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}
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}
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BaseType_t xRingbufferSend(RingbufHandle_t ringbuf, void *data, size_t dataSize, TickType_t ticks_to_wait)
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{
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ringbuf_t *rb=(ringbuf_t *)ringbuf;
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size_t needed_size=dataSize+sizeof(buf_entry_hdr_t);
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BaseType_t done=pdFALSE;
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portTickType ticks_end=xTaskGetTickCount() + ticks_to_wait;
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configASSERT(rb);
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if (dataSize > xRingbufferGetMaxItemSize(ringbuf)) {
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//Data will never ever fit in the queue.
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return pdFALSE;
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}
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while (!done) {
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//Check if there is enough room in the buffer. If not, wait until there is.
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do {
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if (ringbufferFreeMem(rb) < needed_size) {
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//Data does not fit yet. Wait until the free_space_sem is given, then re-evaluate.
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BaseType_t r = xSemaphoreTake(rb->free_space_sem, ticks_to_wait);
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if (r == pdFALSE) {
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//Timeout.
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return pdFALSE;
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}
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//Adjust ticks_to_wait; we may have waited less than that and in the case the free memory still is not enough,
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//we will need to wait some more.
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ticks_to_wait = ticks_end - xTaskGetTickCount();
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}
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} while (ringbufferFreeMem(rb) < needed_size && ticks_to_wait>=0);
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//Lock the mux in order to make sure no one else is messing with the ringbuffer and do the copy.
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portENTER_CRITICAL(&rb->mux);
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//Another thread may have been able to sneak its write first. Check again now we locked the ringbuff, and retry
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//everything if this is the case. Otherwise, we can write and are done.
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done=copyItemToRingbuf(rb, data, dataSize);
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portEXIT_CRITICAL(&rb->mux);
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}
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xSemaphoreGive(rb->items_buffered_sem);
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return pdTRUE;
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}
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BaseType_t xRingbufferSendFromISR(RingbufHandle_t ringbuf, void *data, size_t dataSize, BaseType_t *higher_prio_task_awoken)
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{
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ringbuf_t *rb=(ringbuf_t *)ringbuf;
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BaseType_t write_succeeded;
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configASSERT(rb);
|
||
|
size_t needed_size=dataSize+sizeof(buf_entry_hdr_t);
|
||
|
portENTER_CRITICAL_ISR(&rb->mux);
|
||
|
if (needed_size>ringbufferFreeMem(rb)) {
|
||
|
//Does not fit in the remaining space in the ringbuffer.
|
||
|
write_succeeded=pdFALSE;
|
||
|
} else {
|
||
|
copyItemToRingbuf(rb, data, dataSize);
|
||
|
write_succeeded=pdTRUE;
|
||
|
}
|
||
|
portEXIT_CRITICAL_ISR(&rb->mux);
|
||
|
if (write_succeeded) {
|
||
|
xSemaphoreGiveFromISR(rb->items_buffered_sem, higher_prio_task_awoken);
|
||
|
}
|
||
|
return write_succeeded;
|
||
|
}
|
||
|
|
||
|
|
||
|
void *xRingbufferReceive(RingbufHandle_t ringbuf, size_t *item_size, TickType_t ticks_to_wait)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
uint8_t *itemData;
|
||
|
BaseType_t done=pdFALSE;
|
||
|
configASSERT(rb);
|
||
|
while(!done) {
|
||
|
//See if there's any data available. If not, wait until there is.
|
||
|
while (rb->read_ptr == rb->write_ptr) {
|
||
|
BaseType_t r=xSemaphoreTake(rb->items_buffered_sem, ticks_to_wait);
|
||
|
if (r == pdFALSE) {
|
||
|
//Timeout.
|
||
|
return NULL;
|
||
|
}
|
||
|
}
|
||
|
//Okay, we seem to have data in the buffer. Grab the mux and copy it out if it's still there.
|
||
|
portENTER_CRITICAL(&rb->mux);
|
||
|
itemData=getItemFromRingbuf(rb, item_size);
|
||
|
portEXIT_CRITICAL(&rb->mux);
|
||
|
if (itemData) {
|
||
|
//We managed to get an item.
|
||
|
done=pdTRUE;
|
||
|
}
|
||
|
}
|
||
|
return (void*)itemData;
|
||
|
}
|
||
|
|
||
|
|
||
|
void *xRingbufferReceiveFromISR(RingbufHandle_t ringbuf, size_t *item_size)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
uint8_t *itemData;
|
||
|
configASSERT(rb);
|
||
|
portENTER_CRITICAL_ISR(&rb->mux);
|
||
|
itemData=getItemFromRingbuf(rb, item_size);
|
||
|
portEXIT_CRITICAL_ISR(&rb->mux);
|
||
|
return (void*)itemData;
|
||
|
}
|
||
|
|
||
|
|
||
|
void vRingbufferReturnItem(RingbufHandle_t ringbuf, void *item)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
portENTER_CRITICAL_ISR(&rb->mux);
|
||
|
returnItemToRingbuf(rb, item);
|
||
|
portEXIT_CRITICAL_ISR(&rb->mux);
|
||
|
xSemaphoreGive(rb->free_space_sem);
|
||
|
}
|
||
|
|
||
|
|
||
|
void vRingbufferReturnItemFromISR(RingbufHandle_t ringbuf, void *item, BaseType_t *higher_prio_task_awoken)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
portENTER_CRITICAL_ISR(&rb->mux);
|
||
|
returnItemToRingbuf(rb, item);
|
||
|
portEXIT_CRITICAL_ISR(&rb->mux);
|
||
|
xSemaphoreGiveFromISR(rb->free_space_sem, higher_prio_task_awoken);
|
||
|
}
|
||
|
|
||
|
|
||
|
BaseType_t xRingbufferAddToQueueSetRead(RingbufHandle_t ringbuf, QueueSetHandle_t xQueueSet)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
configASSERT(rb);
|
||
|
return xQueueAddToSet(rb->items_buffered_sem, xQueueSet);
|
||
|
}
|
||
|
|
||
|
|
||
|
BaseType_t xRingbufferAddToQueueSetWrite(RingbufHandle_t ringbuf, QueueSetHandle_t xQueueSet)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
configASSERT(rb);
|
||
|
return xQueueAddToSet(rb->free_space_sem, xQueueSet);
|
||
|
}
|
||
|
|
||
|
|
||
|
BaseType_t xRingbufferRemoveFromQueueSetRead(RingbufHandle_t ringbuf, QueueSetHandle_t xQueueSet)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
configASSERT(rb);
|
||
|
return xQueueRemoveFromSet(rb->items_buffered_sem, xQueueSet);
|
||
|
}
|
||
|
|
||
|
BaseType_t xRingbufferRemoveFromQueueSetWrite(RingbufHandle_t ringbuf, QueueSetHandle_t xQueueSet)
|
||
|
{
|
||
|
ringbuf_t *rb=(ringbuf_t *)ringbuf;
|
||
|
configASSERT(rb);
|
||
|
return xQueueRemoveFromSet(rb->free_space_sem, xQueueSet);
|
||
|
}
|
||
|
|